Résumé : Aerial manipulation has been an active area of research in recent times,
mainly because the active tasking of Unmanned Aerial Vehicles (UAVs)
increases the employability of these
vehicles for various applications. For active tasking one would consider
manipulation, grasping and transporting, etc.However, there are many
challenges in aerial grasping for
these vehicles, like their limited payload or the altered dynamics
caused by the addition of payloads or a robot manipulator.
In this context, the present work is centered on the modeling and the
asymptotical stabilization of a mini-quadrotor carrying a rigid
manipulator arm. For this, a mathematical model
which takes into account the coupling between the two systems and makes
use of the quaternion parametrization is presented. Then, an attitude
nonlinear control law is designed in order
to stabilize the aerial vehicle even under the presence of disturbances
coming from the movement of the robot maipulator. Finally, the
quadcopter is driven to a desired position by the
design of another nonlinear control law.
The proof of stability and experimental results validate the proposed
method control strategy and allow a comparison of the results when the
motion of the arm is taken into
account or not.